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http://www.star-k.org/kashrus/kk-mitzvos-maakeh.htm
The ma'akeh does not have to be a solid wall, but any spaces should be
sufficiently narrow that a child cannot fall through. The ma'akeh
should be sufficiently sturdy that it will hold back a person who
falls against it.

http://www.star-k.org/kashrus/kk-mitzvos-maakeh.htm
A ma'akeh is required at the edge of any floor that people walk on, if
the floor is more than ten t'fachim (40 inches) above the ground or
above the next floor.